JP4112034B2 - Vehicle control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention detects information on other vehicles located around the own vehicle by the own vehicle via a detection device mounted on the other vehicle, and controls the behavior of the own vehicle based on the detected information. The present invention relates to a vehicle control apparatus capable of performing the following.
[0002]
[Prior art]
In general, a vehicle is equipped with a behavior control device such as a prime mover or a transmission, and these behavior control devices are controlled by a driver's operation and based on traveling states detected by various sensors. It may be automatically controlled.
[0003]
However, since all of the above controls are executed after encountering a specific road condition, the control of the behavior control device with respect to the road condition can easily be performed later, and drivability may be reduced.
[0004]
On the other hand, in recent years, with the development of a navigation system, an invention for controlling the behavior of a vehicle to an intended state by detecting the situation around the host vehicle in advance and controlling the prime mover and the automatic transmission based on the detection result. Has been made.
[0005]
An example of such a vehicle control apparatus is described in Japanese Patent Laid-Open No. 5-266399. The vehicle control apparatus described in this gazette includes means for receiving information from another vehicle existing ahead, and traveling information processing means connected to various controllers existing in the host vehicle.
[0006]
According to the vehicle control device described above, position information of the preceding vehicle, information on sudden braking, presence information on the slip road surface, and the like are communicated between the own vehicle and other vehicles, and the controller of the own vehicle is based on various information. It will be controlled and will be able to run according to the surrounding conditions such as road conditions.
[0007]
[Problems to be solved by the invention]
However, in the vehicle control apparatus described in the above publication, a specific state of the other vehicle, for example, an automatic speed for maintaining the control state of the automatic transmission mounted on the other vehicle and the vehicle speed of the other vehicle constant. since a control state of the control device is not considered, the relative relationship between the host vehicle and another vehicle in these state becomes inadequate, drivability is may decrease.
[0008]
The present invention has been made against the background of the above circumstances, and it is possible to control a vehicle capable of controlling the behavior of the own vehicle based on the control state of an automatic transmission or an automatic speed control device mounted on another vehicle. The object is to provide a device.
[0009]
[Means for Solving the Problem and Action]
In order to achieve the above object, the invention according to claim 1 is a behavior control device that controls the behavior of the host vehicle, and an external information detection device that detects information of another vehicle via a detection device mounted on the other vehicle. In the vehicle control device in which the behavior control device is controlled based on the information detected by the external information detection device, the external information detection device detects shift information of the automatic transmission of the other vehicle. shift information detection means, when the prohibition of upshift to the highest speed is detected in the sheet Ri by the shift information detection means, before Symbol another vehicle automatic transmission, most of the automatic transmission of the vehicle When the upshift to the high speed stage is prohibited and the prohibition of the downshift to the minimum speed stage in the automatic transmission of the other vehicle is detected, the downshift to the minimum speed stage of the automatic transmission of the host vehicle is detected. Characterized in that it comprises a behavior control means you prohibit Nshifuto.
[0010]
According to the first aspect of the present invention, it is possible to detect in advance the road information detected by the other vehicle traveling in front of the host vehicle and the behavior control content of the other vehicle by the external information detection device. is there. Therefore, it is possible to receive the behavior control performed by the other vehicle before the host vehicle reaches the place where the road condition changes, and to control the behavior of the own vehicle in substantially the same manner as the control contents of the other vehicle. Yes , drivability is improved.
[0011]
The invention of claim 2 includes a behavior control device that controls the behavior of the host vehicle, and an external information detection device that detects information on the other vehicle via a detection device mounted on the other vehicle. In the vehicle control device in which the behavior control device is controlled based on the information detected by the detection device, the external information detection device detects the control information of the constant speed travel control by the behavior control device. And when the other vehicle is under constant speed running control and the own vehicle is under constant speed running control, the control detecting means and the constant speed running control detecting means. It is determined whether the set vehicle speed in the constant speed travel control is faster than the set vehicle speed in the constant speed travel control of the other vehicle, and the distance between the host vehicle and the other vehicle is sufficient. You Previously when-determined is less than a predetermined value, characterized that you have a behavior control means for decelerating the host vehicle by controlling the behavior control device for.
[0012]
According to the invention of claim 2, since the behavior control device of the own vehicle is automatically controlled based on the control content of the automatic speed control device of the other vehicle , the behavior of the own vehicle is controlled. This can correspond to the vehicle speed of other vehicles. Accordingly, the inter-vehicle distance between the other vehicle and the host vehicle is maintained in an expected state, and drivability is improved.
[0017]
Above is has been behavior control apparatus according to claim 1 and invoiced to claim 2, the engine as a driving force source of the vehicle, the engine electronic control unit for controlling the output of the engine, an automatic transmission arranged on the output side of the engine , Electronic control unit for automatic transmission for controlling automatic transmission, hydraulic control circuit for controlling operation and hydraulic pressure of components of automatic transmission, brake device for controlling braking force of vehicle, vehicle without stepping on accelerator pedal A cruise control device for traveling the vehicle at a constant speed, a suspension device for holding the vehicle body, a steering device for controlling the traveling direction of the vehicle, and the like.
[0018]
Furthermore, you can be exemplified navigation system as the external information detection apparatus according to claim 1 and billed to claim 2. Further, as the path for detecting the information of the other vehicle by claim 1 and請 Oite the determined section 2, an external information detecting device of the vehicle via the detection device mounted in the other vehicle, directly from the other vehicle information And a method of indirectly detecting information once transferred from another vehicle to another information facility.
[0019]
Furthermore, the other vehicle information as claimed in claim 1 and billed to claim 2, running state of another vehicle itself during other vehicle traveling, road conditions around the other vehicles, such as the weather around the other vehicle Is included. Furthermore, as the detecting device of the other vehicle as claimed in claim 1 and invoiced to claim 2, substantially the same as the external information detecting device of the vehicle and the like.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Next, the present invention will be described more specifically with reference to the drawings. FIG. 3 is a block diagram showing a vehicle system to which the present invention is applied. An engine 1 as a driving force source is mounted on the vehicle, and an automatic transmission 2 is connected to the output side of the engine 1. An operation signal of the accelerator pedal 3 operated by the driver is input to the engine electronic control unit 4.
[0021]
The intake pipe 5 of the engine 1 is provided with an electronic throttle valve 7 that is driven by a throttle actuator 6. A control signal is output from the engine electronic control unit 4 to the throttle actuator 6 in accordance with the depression amount of the accelerator pedal 3, and the opening of the electronic throttle valve 7 is controlled in accordance with the control amount. .
[0022]
The engine electronic control unit 4 for controlling the engine 1 is composed of a central processing unit (CPU), a storage unit (RAM, ROM), and a microcomputer mainly including an input / output interface.
[0023]
In addition to the signal corresponding to the depression amount of the accelerator pedal 3, the engine electronic control unit 4 includes an output signal of the engine speed sensor 8, an output signal of the intake air amount sensor (air flow meter) 9, an intake An output signal of the air temperature sensor 10, an output signal of the throttle opening sensor 11 for detecting the opening of the electronic throttle valve 7, an output signal of the output shaft speed of the automatic transmission 2, in other words, an output signal of the vehicle speed sensor 12 for detecting the vehicle speed, An output signal of the coolant temperature sensor 13, an output signal of the brake switch 14 for detecting on / off of the brake pedal, and the like are input as control data.
[0024]
Further, in addition to the control of the throttle actuator 6 described above, the engine electronic control device 4 is configured to output a signal to the fuel injection device 15 and the igniter 16 that changes the ignition timing when the automatic transmission 2 is shifted. Has been. Furthermore, the engine electronic control device 4 also receives signals from a navigation system and cruise control device, which will be described later, and outputs control signals to the throttle actuator 6, the fuel injection device 15, the igniter 16, and the like based on these input signals. Is configured to do.
[0025]
On the other hand, the step-variable automatic transmission 2 has a known structure such as a torque converter, a lock-up clutch, a gear transmission mechanism, and a friction engagement device. The hydraulic pressure acting on each friction engagement device and the lockup clutch of the automatic transmission 2 is electrically controlled by a hydraulic pressure control circuit 17. The hydraulic control circuit 17 includes a shift solenoid valve and a linear solenoid valve.
[0026]
An automatic transmission electronic control unit 18 is provided for outputting a control signal to each solenoid valve of the hydraulic control circuit 17. Similar to the engine electronic control unit 4, the automatic transmission electronic control unit 18 mainly includes a central processing unit (CPU), a storage unit (RAM, ROM), and an input / output interface. Therefore, the engine electronic control unit 4 and the automatic transmission electronic control unit 18 can be integrated and integrated as necessary.
[0027]
This automatic transmission electronic control unit 18 performs a calculation based on input data in accordance with a shift map and calculation formula stored in advance, outputs a control signal based on the calculation result to each solenoid valve, and sets the shift stage. Further, it is configured to execute control of engagement / release of the friction engagement device at the time of shifting, control of engagement / release of the lock-up clutch, control of transient hydraulic pressure at the time of shifting, and the like. Furthermore, the automatic transmission electronic control unit 18 is configured to output a signal for controlling the automatic transmission 2 based on data detected by a navigation system described later.
[0028]
The engine electronic control unit 4 and the automatic transmission electronic control unit 18 are connected to each other so that data communication is possible. The automatic transmission electronic control unit 18 includes the accelerator pedal 3 as control data. Operation signal, throttle opening sensor 11 output signal, vehicle speed sensor 12 output signal, cooling water temperature sensor 13 output signal, brake switch 14 output signal, and the like. In addition, the automatic transmission electronic control unit 18 transmits a signal for setting each gear position to the engine electronic control unit 4.
[0029]
On the other hand, the brake device 19 is electrically supplied with a brake pedal operated by the driver, a master cylinder for converting the depression force of the brake pedal into hydraulic pressure, a wheel cylinder on which the hydraulic pressure of the master cylinder acts, and hydraulic pressure on the wheel cylinder. A solenoid valve to be controlled, a rotation speed sensor for detecting the rotation speed of each wheel, and the like are included. The brake device 19 has a function of generating a braking force by supplying hydraulic pressure to the wheel cylinder by operating a brake pedal, and a signal transferred from the rotation speed sensor, the automatic transmission electronic control device 18 or the engine electronic control device 4. And a function of supplying hydraulic pressure to the wheel cylinder.
[0030]
Further, the cruise control device 20, also because the order to constant speed running of the vehicle by controlling the engine 4 and the automatic transmission 2, the vehicle speed setting, cancellation, and control such as recovery takes place. The signal of the cruise control device 20 is input to the engine electronic control device 4 and the automatic transmission electronic control device 18 so that the opening of the electronic throttle valve 7 is controlled without the accelerator pedal 3 being depressed, and the vehicle speed is automatically adjusted. It can be kept constant. Note that the constant speed traveling control is also released when the accelerator pedal 3, the brake pedal, the shift lever of the automatic transmission 2 and the parking lever are operated during the execution of the constant speed traveling control.
[0031]
The suspension device 21 supports the vehicle body and controls the behavior of the vehicle body such as vibration and steering stability. The suspension device 21 is an actuator that controls the damping force of the shock absorber, air spring, and shock absorber, air An actuator that controls the spring constant and damping force of the spring is included. In the suspension device 21, the damping force of the shock absorber, the damping force of the air spring, and the spring constant are controlled by a computer in accordance with the running condition of the vehicle, and the handling stability and the riding comfort are improved.
[0032]
Furthermore, the auxiliary equipment 22 includes an air conditioner, a fog lamp, a wiper, a horn, and the like. The steering device 23 that controls the traveling direction of the vehicle includes a steering wheel operated by the driver, a gear box that transmits the rotation of the steering wheel to the steering link mechanism, a vane pump that supplies hydraulic pressure to the gear box, and this hydraulic pressure. An electrically controlled solenoid valve is included. And steering force is controlled according to a vehicle speed, and operativity is improved.
[0033]
On the other hand, a navigation system 24 is connected to the electronic control unit 18 for automatic transmission, the brake device 19, the cruise control device 20, the suspension device 21, the auxiliary device 22, and the steering device 23 so that data communication is possible. A signal based on the data detected by 24 is input to the engine electronic control device 4, the automatic transmission electronic control device 18, the brake device 19, the cruise control device 20, the suspension device 21, the auxiliary device 22, and the steering device 23. Thus, the control content of each device can be corrected and changed based on the information detected by the navigation system 24.
[0034]
The navigation system 24 includes an electronic control device 25, a player 26, an output device 27, a first information detection device 28, and a second information detection device 29. The player 26, the output device 27, the first information detection device 28, and the second information detection device 29 are controlled by the electronic control device 25.
[0035]
The electronic control unit 25 is composed of a central processing unit (CPU), a storage device (RAM, ROM), and a microcomputer mainly including an input / output interface. The player 26 is for reading information stored in an information recording medium such as an optical disk or a magnetic disk, and for performing an input operation of a road on which the vehicle is scheduled to travel and a destination.
[0036]
The information recording medium stores information necessary for driving the vehicle, such as maps, place names, roads, main buildings around the road, and specific road conditions such as straight roads, curves, uphills, Downhills, urban areas, mountainous areas, ordinary roads, highways, road signs on each road, traffic regulations, etc. are stored.
[0037]
Further, the output device 27 displays information read by the player 26, the planned road to the destination, the road condition of the planned road, the current position of the host vehicle, the presence and position of other vehicles, the presence or absence of obstacles, The output device 27 includes a multi-display, a speaker, a buzzer, a chime, and the like.
[0038]
Further, the first information detection device 28 is for detecting the current position of the host vehicle, the road condition, the inter-vehicle distance from other vehicles, and the like by self-contained navigation. A geomagnetic sensor for detecting the steering wheel, a steering sensor for detecting the steering wheel steering angle, a gradient sensor for detecting the gradient of the road, a video camera for detecting the preceding vehicle and detecting a distance between the vehicles, a laser cruise device, a distance sensor, and the like.
[0039]
Furthermore, the second information detection unit 29 is for detecting the current position of the host vehicle, road conditions, other vehicles, obstacles, weather, and the like by radio wave navigation. GPS antennas that receive radio waves from satellites, radio waves transmitted from navigation system transmitters as detection devices installed in other vehicles, radio waves transmitted from beacons and sign posts installed on the roadside, An antenna for receiving radio waves from VICS (Vehicle Information & Communication System) and SSVS (Super Smart Vehicle System) is included.
[0040]
In addition, as a method of receiving the radio wave transmitted from the transmitter of the navigation system mounted on the other vehicle by the navigation system 24 of the own vehicle, a method of directly receiving from the other vehicle, or indirectly through VICS or SSVS. There is a method to receive automatically.
[0041]
The engine 1, the automatic transmission 2, the engine electronic control device 4, the automatic transmission electronic control device 18, the hydraulic control circuit 17, the brake device 19, the cruise control device 20, the suspension device 21, the steering device 23, etc. 1 and corresponds to a behavior control apparatus billed to claim 2, the navigation system 24 corresponds to the external information detecting device according to claim 1 and billed to claim 2.
[0042]
Next, a specific control example of the present invention will be described. In each control example, in order to detect the traveling state of the other vehicle, the surrounding road conditions, the surrounding weather, the surrounding obstacles, and the like, the various vehicles and the detection device that is substantially the same as the navigation system 24 in each control example. And a transmitter that transmits information detected by various sensors and detection devices to the outside.
[0043]
(First control example)
When the other vehicle reaches a winding road or a low friction coefficient road while the own vehicle is following the other vehicle, the behavior is controlled after the own vehicle reaches each road condition. Then, a difference arises in the behavior of the other vehicle and the own vehicle, and there is a possibility that the inter-vehicle distance between the own vehicle and the other vehicle cannot be maintained in an intended state. The first control example has been made to solve this problem .
[0044]
FIG. 1 is a flowchart showing a first control example. First, road information detected by another vehicle is detected by the navigation system 24 (step 91). Then, it is determined whether or not the control for prohibiting the fourth speed of the automatic transmission is performed in the other vehicle (step 92). If the determination in step 92 is affirmative, the other vehicle may have entered the winding road. Therefore, control for automatically prohibiting the fourth speed of the automatic transmission 2 and urging deceleration is performed (step 93), and the process returns .
[0045]
Further, when a negative determination is made at step 92, it is determined whether or not the control for prohibiting the first speed of the automatic transmission is being performed on the other vehicle (step 94). If the determination in step 94 is affirmative, there is a possibility that a low friction coefficient road exists ahead, so that the first speed of the automatic transmission 2 is automatically prohibited to suppress the driving force of the vehicle. Is performed (step 95) and the process returns. If a negative determination is made in step 94, the process is returned as it is.
[0046]
As described above, according to the first control example, the navigation system 24 can detect in advance the road information detected by the other vehicle traveling in front of the host vehicle and the behavior control content of the other vehicle. Is possible. Therefore, the behavior control performed by the other vehicle by neural network control or fuzzy control is received before the own vehicle reaches the place where the road condition changes, and the behavior of the own vehicle is almost the same as the control content of the other vehicle. Therefore, drivability is improved.
[0047]
(Second control example)
When the host vehicle and the other vehicle have a constant speed running function, and the host vehicle is following the other vehicle, the constant speed running speed set by the other vehicle and the constant speed set by the host vehicle are set. When there is a difference in the high speed traveling speed, there is a possibility that the distance between the host vehicle and the other vehicle becomes narrower and approaches. The second control example is an order to solve the above problems.
[0048]
A second control example will be described based on the flowchart of FIG. In this control example, it is assumed that the other vehicle has a constant speed traveling function similar to that of the host vehicle. First, the navigation system 24 receives the control information of the cruise control device of the other vehicle traveling in front of the host vehicle, and detects the inter-vehicle distance between the host vehicle and the other vehicle (step 21). Next, it is determined by the navigation system 24 whether or not constant speed traveling control is being performed on another vehicle (step 22) .
[0049]
If an affirmative determination in Step 22, whether or not the own vehicle cruise control in is determined (step 23). If an affirmative determination is made in step 23, it is determined whether or not the set vehicle speed Vc1 of the host vehicle exceeds the set vehicle speed Vc0 of the other vehicle (step 24).
[0050]
If an affirmative determination is made in step 24, it is determined whether the inter-vehicle distance L between the host vehicle and the other vehicle at that time is less than a predetermined value L1 set in advance (step 25). The predetermined value L1 is set based on the set vehicle speed Vc1 of the host vehicle. If a negative determination is made in step 25, since a sufficient inter-vehicle distance is secured, normal constant speed traveling control is executed based on the set vehicle speed Vc1 (step 26), and the process returns .
[0051]
If an affirmative determination is made in step 25, the inter-vehicle distance L may be insufficient if the constant speed traveling control is executed at the set vehicle speed Vc1, so the inter-vehicle distance L at that time is set to a predetermined value set in advance. It is determined whether or not the value is less than or equal to value L2 (step 27). The predetermined value L1 is a value smaller than the predetermined value L1 .
[0052]
If an affirmative determination is made in step 27, there is a possibility that the distance between the host vehicle and the other vehicle may be further reduced, so that the automatic transmission 2 is downshifted and deceleration by the engine braking force is executed (step 28). Returned. In step 28, the control of causing the electronic throttle valve 7 to be fully closed by the signal of the cruise control device 20 and the control of generating the braking force by electrically controlling the brake device 19 are simultaneously performed to increase the deceleration force. Is also possible .
[0053]
Further, if a negative determination is made in step 27, the inter-vehicle distance between the host vehicle and the other vehicle may be gradually reduced at the set vehicle speed Vc1 as it is, and therefore the target vehicle speed Vc0 of the other vehicle is set as a target. Constant speed running control is executed (step 29) and the process returns. Further, if a negative determination is made in step 24, the process proceeds to step 26 because there is no possibility that the inter-vehicle distance between the host vehicle and the other vehicle is reduced. If a negative determination is made in step 22 or step 23, the process returns as it is.
[0054]
As described above, according to the second control example, the own vehicle and the other vehicle have the constant speed running function, and the own vehicle and the other vehicle have a set speed and the own vehicle speed in the state in which the own vehicle follows the other vehicle. Since the behavior of the host vehicle is controlled based on the difference in the set vehicle speed of the vehicle and the distance between the host vehicle and the other vehicle, it is possible to avoid in advance that the distance between the host vehicle and the other vehicle is narrowed. , Drivability is improved.
[0122]
The first control example and the second system Golay above SL is also possible to carry out by combining see each other. Moreover, if the first control example is a vehicle located in front of the planned travel route of the host vehicle, the vehicle other than the nearest other vehicle can be targeted. Then, based on the occurrence time of the detected information, if the own vehicle's behavior control device is controlled when the own vehicle reaches the road condition, substantially the same effect can be obtained.
[0123]
Further, in each of the above control examples, since the configuration in which the information detected by the other vehicle is received by the own vehicle is adopted, information that cannot be detected by the system installed in the own vehicle, for example, the friction coefficient And the conditions for controlling the behavior control device of the host vehicle are expanded, and more appropriate behavior control becomes possible .
[0124]
The present invention is also applicable to a vehicle equipped with an automatic transmission equipped with a known continuously variable transmission mechanism. The present invention is also applicable to an electric vehicle equipped with an electric motor instead of an engine, or a hybrid vehicle equipped with an electric motor and an engine. When an electric motor is used, the driving force is reduced by the regenerative braking force of the electric motor. When an electric motor is used, the output torque can be increased or decreased by controlling the current supplied to the electric motor.
[0125]
【The invention's effect】
As described above, according to the first aspect of the present invention, the road information detected by the other vehicle traveling in front of the host vehicle and the behavior control content of the other vehicle are preliminarily displayed by the external information detection device. Can be detected. Therefore, it is possible to receive the behavior control performed by the other vehicle before the host vehicle reaches the place where the road condition changes, and to control the behavior of the own vehicle in substantially the same manner as the control contents of the other vehicle. Yes , drivability is improved.
[0126]
According to the invention of claim 2, since the behavior control device of the own vehicle is automatically controlled based on the control content of the automatic speed control device of the other vehicle , the behavior of the own vehicle is controlled. This can correspond to the vehicle speed of other vehicles. Accordingly, the inter-vehicle distance between the other vehicle and the host vehicle is maintained in an expected state, and drivability is improved.
[Brief description of the drawings]
FIG. 1 is a flowchart showing a first control example of the present invention.
FIG. 2 is a flowchart showing a second control example of the present invention.
3 is a block diagram showing a system of a vehicle that the inventions is applied.

Claims (2)

Information provided by a behavior control device that controls the behavior of the host vehicle and an external information detection device that detects information of another vehicle via a detection device mounted on the other vehicle. In the vehicle control device in which the behavior control device is controlled based on
Shift information detection means for detecting shift information of the automatic transmission of the other vehicle by the external information detection device ;
The sheet Ri by the shift information detection means, when the prohibition of the previous SL upshift to the highest speed in the automatic transmission of the other vehicle is detected, an upshift to the highest speed in the automatic transmission of the vehicle prohibited, if the prohibition of downshifting to the lowest speed in the automatic transmission of the other vehicle is detected, the behavior control said you prohibit the downshift to the lowest speed in the automatic transmission of the vehicle Means and
The vehicle control apparatus characterized by the above-mentioned. Information provided by a behavior control device that controls the behavior of the host vehicle and an external information detection device that detects information of another vehicle via a detection device mounted on the other vehicle. In the vehicle control device in which the behavior control device is controlled based on
Constant speed traveling control detection means for detecting control information of constant speed traveling control by the behavior control device by the external information detecting device;
The constant speed traveling control detecting means detects that the other vehicle is under constant speed traveling control, and the own vehicle is under constant speed traveling control, and is in the constant speed traveling control of the own vehicle. In order to determine whether or not the set vehicle speed is faster than the set vehicle speed in the constant speed running control of the other vehicle and the distance between the host vehicle and the other vehicle is sufficient. Behavior control means for controlling the behavior control device to decelerate the host vehicle when the vehicle is below a predetermined value.
That it comprises a vehicles control device according to claim.

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